Ms. Brooke Haueisen Profile

Brooke Haueisen

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Proceedings Article | 9 May 2006 Paper

Initial conditions of a simple passive-dynamic walker

Kyle Nebel, Greg Hudas, Brooke Haueisen, Greg Hulbert

Proceedings Volume 6230, 623028 (2006) https://doi.org/10.1117/12.666075

KEYWORDS: Robots, Motion models, Systems modeling, Data modeling, Control systems, Cameras, Unmanned systems, Defense technologies, 3D modeling, Motion measurement

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Walking robots hold great potential for the future of military robotics. Their natural agility in rough, unstructured terrain make them ideal for military applications but their power requirements do not. Passive dynamic walkers offer a potentially low-power solution. This class of legged robots utilize the natural inverted pendular dynamics that humans rely on to locomote. The most basic of these systems uses gravity as its power source and has no control system therefore its stability is heavily reliant on its initial conditions. The VICON Motion Capture System was used to record the motions of Coleman and Ruina's¹ TinkertoyWalker© . The initial angles and angular velocities of the various trials were extracted from the motion capture data and used as inputs to a multi-body dynamics model of the walker. The model was created to provide insight into passive-dynamic walkers and the interactions between the walker and the ground surface. Several trials were performed to quantify the stability space of the experimental walker and improve the correlation of the dynamics model to the physical robot.

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